Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot

he Central Pattern Generators (CPGs) are becoming a popular method as the alternative control mechanism replacing the conventional trajectory-based method for designing the locomotion gait of mobile robot nowadays. CPG is described as a set of neural networks that have the ability to produce rhyth...

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Main Authors:	Jasni, Farahiyah, Shafie, Amir Akramin
Format:	Conference or Workshop Item
Language:	English
Published:	2012
Subjects:	TA Engineering (General). Civil engineering (General)
Online Access:	http://irep.iium.edu.my/29314/ http://irep.iium.edu.my/29314/1/Van_Der_Pol.pdf

id	iium-29314
recordtype	eprints
spelling	iium-293142013-03-05T03:08:07Z http://irep.iium.edu.my/29314/ Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot Jasni, Farahiyah Shafie, Amir Akramin TA Engineering (General). Civil engineering (General) he Central Pattern Generators (CPGs) are becoming a popular method as the alternative control mechanism replacing the conventional trajectory-based method for designing the locomotion gait of mobile robot nowadays. CPG is described as a set of neural networks that have the ability to produce rhythmic movements, such as walking, swimming and flying without intervention from the sensory inputs and higher level control. This paper aims to highlight the efficiency of the biologically inspired, VDP-CPG based control method in modelling the walking gait for a quadruped robot. A new approach of VDP-CPG based walking gait model is developed in which 3-D foot trajectories are generated by mapping the output from CPG. The simulated foot trajectories of the CPG-based control and conventional trajectory-based method are compared to confirm the performance. 2012 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/29314/1/Van_Der_Pol.pdf Jasni, Farahiyah and Shafie, Amir Akramin (2012) Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot. In: 1st International Conference on Intelligent Robotics, Automation and Manufacturing (IRAM) 2012, 28-30th November 2012, Kuala Lumpur.
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA Engineering (General). Civil engineering (General)
spellingShingle	TA Engineering (General). Civil engineering (General) Jasni, Farahiyah Shafie, Amir Akramin Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot
description	he Central Pattern Generators (CPGs) are becoming a popular method as the alternative control mechanism replacing the conventional trajectory-based method for designing the locomotion gait of mobile robot nowadays. CPG is described as a set of neural networks that have the ability to produce rhythmic movements, such as walking, swimming and flying without intervention from the sensory inputs and higher level control. This paper aims to highlight the efficiency of the biologically inspired, VDP-CPG based control method in modelling the walking gait for a quadruped robot. A new approach of VDP-CPG based walking gait model is developed in which 3-D foot trajectories are generated by mapping the output from CPG. The simulated foot trajectories of the CPG-based control and conventional trajectory-based method are compared to confirm the performance.
format	Conference or Workshop Item
author	Jasni, Farahiyah Shafie, Amir Akramin
author_facet	Jasni, Farahiyah Shafie, Amir Akramin
author_sort	Jasni, Farahiyah
title	Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot
title_short	Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot
title_full	Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot
title_fullStr	Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot
title_full_unstemmed	Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot
title_sort	van der pol central pattern generator (vdp-cpg) model for quadruped robot
publishDate	2012
url	http://irep.iium.edu.my/29314/ http://irep.iium.edu.my/29314/1/Van_Der_Pol.pdf
first_indexed	2023-09-18T20:43:01Z
last_indexed	2023-09-18T20:43:01Z
_version_	1777409491473530880

Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot

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